CN108429506B - Method and device for controlling motor speed reduction by frequency converter - Google Patents
Method and device for controlling motor speed reduction by frequency converter Download PDFInfo
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P23/00—Arrangements or methods for the control of AC motors characterised by a control method other than vector control
- H02P23/20—Controlling the acceleration or deceleration
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P23/00—Arrangements or methods for the control of AC motors characterised by a control method other than vector control
- H02P23/14—Estimation or adaptation of motor parameters, e.g. rotor time constant, flux, speed, current or voltage
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P27/00—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage
- H02P27/04—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage
- H02P27/06—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using DC to AC converters or inverters
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Abstract
The application provides a method for controlling motor deceleration by a frequency converter, which adopts a plurality of sub-processes with the same processing flow to repeatedly adjust deceleration time, and for two adjacent sub-processes, the deceleration time of the next sub-process is adjusted according to the processing result of the previous sub-process; each sub-process comprises the steps of: acquiring the current operating parameters of the motor, corresponding parameters of a direct current bus of the frequency converter and limit values of the corresponding parameters of the direct current bus; carrying out PID control operation according to the current operation parameter of the motor or the difference value between the corresponding parameter of the direct current bus and the limit value of the corresponding parameter of the direct current bus to obtain an adjustment quantity; calculating the deceleration time of the current sub-process; and calculating the output frequency of the frequency converter in the current subprocess according to the deceleration time, and controlling the motor to decelerate according to the output frequency. The motor can be quickly decelerated without installing a brake resistor.
Description
Technical Field
The application relates to the field of frequency converter control, in particular to a method and a device for controlling motor speed reduction by a frequency converter.
Background
The frequency converter is a motor control device integrating control and drive. Generally, a power grid is adopted to rectify an alternating current voltage into a direct current voltage, the direct current voltage passes through a direct current bus capacitor arranged in a frequency converter, and the direct current voltage is inverted into the alternating current voltage through a three-phase inverter bridge, namely, the alternating current voltage is in a so-called alternating current-direct current-alternating current structure.
The main function of the frequency converter is to drive the motor to rotate, including: acceleration, deceleration, and the like. In some industrial fields, a frequency converter is required to carry out rapid acceleration and deceleration control on a motor. Due to the load inertia, when the frequency converter controls the motor to decelerate quickly, the motor is equivalent to a generator, and the load kinetic energy is converted into electric energy to be fed back to the frequency converter. For a general frequency converter, the capacity of feeding back redundant electric energy to a power grid is not provided, so a method of connecting a brake resistor to a direct current bus of the frequency converter is often adopted to consume redundant energy to the resistor. However, this solution has the following problems:
1) the frequency converter must be additionally provided with a braking unit, so that the cost of the frequency converter is increased;
2) the brake resistor with high power has high cost, and sometimes additional heat dissipation measures are added;
3) the brake resistor with high power has large volume and can not be installed in some occasions.
Therefore, for the above reasons, there is a need for a method capable of controlling a motor to rapidly decelerate, which can control the motor to rapidly decelerate without installing a brake resistor.
Disclosure of Invention
In view of the above, it is necessary to provide a method, an apparatus, a computer device and a storage medium for controlling motor deceleration by an inverter, which can realize rapid motor deceleration.
The application provides a method for controlling motor deceleration by a frequency converter, which adopts a plurality of sub-processes with the same processing flow to repeatedly adjust deceleration time, and for two adjacent sub-processes, the deceleration time of the next sub-process is adjusted according to the processing result of the previous sub-process; each sub-process comprises the steps of:
acquiring the current operating parameters of the motor, corresponding parameters of a direct current bus of the frequency converter and limit values of the corresponding parameters of the direct current bus;
carrying out PID control operation according to the current operation parameter of the motor or the difference value between the corresponding parameter of the direct current bus and the limit value of the corresponding parameter of the direct current bus to obtain an adjustment value P;
if the sum of the current output voltage of the motor and the adjustment quantity is smaller than the rated voltage of the motor, the deceleration time T of the current sub-processxAnd the deceleration time T of the previous sub-process(x-1)The relationship between them satisfies:
Tx＝T(x-1)-K*P，
otherwise:
Tx＝T(x-1)+K*P；
wherein K is a time modulation proportionality coefficient;
and calculating the output frequency of the frequency converter in the current sub-process according to the deceleration time Tx, and controlling the motor to decelerate according to the output frequency.
In one embodiment, the step of obtaining the current operating parameter of the motor, the corresponding parameter of the dc bus of the frequency converter, and the limit value of the corresponding parameter of the dc bus includes: and acquiring the rated voltage of the motor, the current output current of the motor, the current direct current bus voltage, the direct current bus voltage limit value and the direct current bus output current limit value.
In one embodiment, the step of performing PID control operation according to the current operating parameter of the motor or the difference between the limit values of the corresponding parameter of the dc bus and the corresponding parameter of the dc bus to obtain the adjustment value P includes:
carrying out PID control operation on the difference value between the current limiting value of the direct current bus output current and the current motor output current to obtain a first adjustment quantity P1;
carrying out PID control operation on the difference value between the current direct-current bus voltage and the direct-current bus voltage limit value to obtain a second adjustment quantity P2;
and comparing the current limit value of the output current of the direct current bus with the current output current of the motor, if the current output current of the motor is larger than the current limit value of the output current of the direct current bus, the adjustment amount P is P1, otherwise, the adjustment amount P is P2.
In one embodiment, the step of performing PID control operation on the difference between the current-limiting value of the dc bus output current and the current motor output current to obtain the first adjustment amount P1 includes:
outputting a current limiting value I by the direct current buslimitThe current output current I of the motor is a feedback value;
difference of current EI＝Ilimit-I；
For the current difference EICarrying out PID control operation to obtain a first adjustment quantity P1;
wherein, KpAre control parameters.
In one embodiment, the step of performing PID control operation on the difference between the current dc bus voltage and the dc bus voltage limit value to obtain a second adjustment amount P2 includes:
with the DC busVoltage is UdcA given value, a limit value U of the DC bus voltagelimitIs a feedback value;
difference in voltage EU＝Udc-Ulimit；
For the current difference EUCarrying out PID control operation to obtain a first adjustment quantity P2;
wherein, KpAre control parameters.
In one embodiment, the step of obtaining the current output current of the motor comprises:
obtaining a first phase stator current I of an electric machineuAnd a second phase stator current Iw；
According to the three-phase current sum being zero, calculating out the third-phase stator current Iv；
Using clark conversion to convert the three-phase stator current I in a three-phase static coordinate systemu、IwAnd IvConversion to I in two-phase stationary coordinate SystemαAnd IβIn which Iα＝Iu，
Calculating the current output current of the motor
In one embodiment, if the current output voltage of the motor plus the adjustment amount is smaller than the rated voltage of the motor, the actual output voltage of the frequency converter is equal to the current output voltage of the motor plus the adjustment amount; otherwise, the actual output voltage of the frequency converter is equal to the rated voltage of the motor.
In one embodiment, the output frequency F of the frequency converterx＝F(x-1)-Δt*Fmax/TxWherein: f(x-1)The frequency of the frequency converter output of the previous sub-process, Δ t is the time interval between two adjacent sub-processes, FmaxIs the maximum output frequency, T, of the frequency converterxIs the deceleration time.
The application still provides a device of converter control motor speed reduction, includes:
the parameter acquisition module is used for acquiring the current operating parameters of the motor, the corresponding parameters of the direct current bus of the frequency converter and the limit values of the corresponding parameters of the direct current bus;
the PID module is used for carrying out PID control operation according to the current operation parameter of the motor or the difference value between the limiting value of the corresponding parameter of the direct current bus and the limiting value of the corresponding parameter of the direct current bus to obtain an adjustment quantity P;
the operation module is used for comparing the current output voltage of the motor plus the adjustment quantity with the rated voltage of the motor and determining the deceleration time T according to the comparison resultx＝T(x-1)-K x P, or the deceleration time Tx＝T(x-1)+ K P; wherein T is(x-1)And K is a time modulation proportionality coefficient, and is the deceleration time calculated in the last subprocess.
And the control module is used for calculating the output frequency of the frequency converter according to the deceleration time and controlling the motor to decelerate according to the output frequency.
The present application further provides a computer device comprising a memory and a processor, the memory storing a computer program, wherein the processor implements the steps of the aforementioned method when executing the computer program.
The present application also provides a computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the steps of the aforementioned method.
According to the method, the device, the computer equipment and the storage medium for controlling the motor to decelerate by the frequency converter, when the motor is decelerated, the parameters of the motor and the frequency converter are obtained, and the parameters are analyzed and calculated to obtain the shortest deceleration time, so that the output frequency of the frequency converter is reduced at the fastest speed. And the state change of the load is timely adjusted through PID control, the reverse generating capacity generated by load inertia is eliminated, and the motor can be rapidly decelerated without installing a brake resistor.
Drawings
FIG. 1 is a schematic flow chart illustrating a method for controlling motor deceleration by a frequency converter according to one embodiment;
fig. 2 is a schematic structural diagram of a device for controlling the speed reduction of a motor by a frequency converter in one embodiment.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the present application is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.
In one embodiment, as shown in fig. 1, a method for controlling a motor to decelerate by a frequency converter is provided, in which a plurality of sub-processes with the same processing flow are adopted to repeatedly adjust deceleration time, and for two adjacent sub-processes, the deceleration time of the next sub-process is adjusted according to the processing result of the previous sub-process; each sub-process comprises:
step S10: and acquiring the current operating parameters of the motor, the corresponding parameters of the direct current bus of the frequency converter and the limit values of the corresponding parameters of the direct current bus.
The current operating parameters of the motor may include a rated voltage of the motor, a current output voltage of the motor, and a current output current of the motor. The corresponding parameter of the direct current bus of the frequency converter can comprise the current direct current bus voltage. The limiting values of the corresponding parameters of the direct current bus can comprise a direct current bus voltage limiting value and a direct current bus output current limiting value.
Step S20: carrying out PID control operation according to the current operation parameter of the motor or the difference value between the corresponding parameter of the direct current bus and the limit value of the corresponding parameter of the direct current bus to obtain an adjustment value P;
and the PID control operation is to perform proportional, integral and differential operation on the difference value, the current operation parameter of the motor or the corresponding parameter of the direct current bus is taken as a feedback value, and the limit value of the corresponding parameter of the direct current bus is taken as a given value. The adjustment amount is obtained through PID control, the change of the load can be adjusted in time, and the reverse generating capacity generated by the inertia of the load is eliminated.
Step S30: comparing the current output voltage U of the motoroutAdding the adjustment P and the rated voltage UrateIf the current output voltage U of the motor is larger than the preset valueoutPlus the adjustment quantity P is less than the rated voltage UrateThen deceleration time Tx＝T(x-1)-K x P, otherwise, the deceleration time Tx＝T(x-1)+ K P; wherein T is(x-1)And K is a time modulation proportionality coefficient for the deceleration time calculated in the sub-process.
The frequency converter has an initial deceleration time T0Said initial deceleration time T0The setting can be carried out according to the actual situation. During deceleration, the deceleration time T is calculated for the first timexTime T(x-1)Is equal to T0During subsequent calculation, the T calculated each time can be calculatedxAs a new T(x-1)And repeating iterative operation. The time modulation scale factor K is a parameter set according to actual conditions, and normally K is 1. If T is(x-1)-K*P<0, then Tx＝0。
Step S40: and calculating the output frequency of the frequency converter according to the deceleration time, and controlling the motor to decelerate according to the output frequency.
When the frequency converter controls the motor to decelerate, the frequency converter can gradually reduce the output frequency from the current frequency until the frequency is stopped at 0. And determining the output frequency of the frequency converter in the current cycle according to the deceleration time, so that the output frequency of the frequency converter is reduced at the fastest speed.
According to the method for controlling the motor to decelerate by the frequency converter, when the motor is decelerated, the parameters of the motor and the frequency converter are obtained, and the parameters are analyzed and calculated to obtain the shortest deceleration time, so that the output frequency of the frequency converter is reduced at the fastest speed. And the state change of the load is timely adjusted through PID control, the reverse generating capacity generated by load inertia is eliminated, and the motor can be rapidly decelerated without installing a brake resistor.
In an embodiment, as shown in fig. 2, the step S10 specifically includes: and acquiring the rated voltage of the motor, the current output current of the motor, the current direct current bus voltage, the direct current bus voltage limit value and the direct current bus output current limit value.
Wherein the rated voltage U of the motorrateCan be obtained through a nameplate of the motor or technical data of the motor, and the direct current bus voltage limit value UlimitThe maximum voltage on the direct current bus is set according to the actual condition, and the current limiting value I of the output current of the direct current buslimitThe maximum current on the direct current bus is set according to actual conditions. The current output voltage U of the motoroutAnd the current DC bus voltage UdcCan be automatically obtained by an upper machine. The current output current I of the motor is equivalent current of three-phase stator current of the motor.
Wherein the three-phase stator current of the motor is a three-phase current I passing through stator coils of the motoru、IwAnd Iv. For the three-phase current Iu、IwAnd IvThe current output current I of the motor can be equivalent to the current output current I of the motor in a three-phase static coordinate system, and the current projected to the three-phase static coordinate system at any time is equal to the three-phase current.
The acquiring of the current output current of the motor specifically comprises:
step S110: obtaining a first phase stator current I of an electric machineuAnd a second phase stator current Iw。
Step S120: according to the three-phase current sum being zero, calculating out the third-phase stator current Iv。
Step S130: using clark conversion to convert the three-phase stator current I in a three-phase static coordinate systemu、IwAnd IvConversion to I in two-phase stationary coordinate SystemαAnd IβIn which Iα＝Iu，
Step S140: calculating the current output current of the motor
The step S20 specifically includes:
step S210: and calculating the difference between the current limiting value of the output current of the direct current bus and the current output current of the motor, and performing PID control operation on the difference between the current limiting value of the output current of the direct current bus and the output current to obtain a first adjustment quantity P1.
Step S220: and calculating the difference value between the current direct current bus voltage and the direct current bus voltage limit value, and performing PID control operation on the difference value between the current direct current bus voltage and the direct current bus voltage limit value to obtain a second adjustment quantity P2.
Step 230: and comparing the current limit value of the output current of the direct current bus with the current output current of the motor, if the current output current of the motor is greater than the current limit value of the output current of the direct current bus, the adjustment amount P is P1, otherwise, the adjustment amount P is P2.
In an embodiment, the step S210 specifically includes:
step S211: outputting a current limiting value I by the direct current buslimitThe output current I is a feedback value.
Step S212: difference of current EI＝Ilimit-I。
Step S213: for the current difference EICarrying out PID control operation to obtain a first adjustment quantity P1;
wherein, KpAre control parameters. KpThe value of (b) can be set according to actual conditions.
The step S220 specifically includes:
step S221: taking the current direct current bus voltage as UdcGiven value, limit value U of DC bus voltagelimitIs a feedback value.
Step S222: difference in voltage EU＝Udc-Ulimit。
Step S223: for the current difference EUCarrying out PID control operation to obtain a first adjustment quantity P2;
wherein, KpAre control parameters. KpThe value of (b) can be set according to actual conditions.
In one embodiment, the output frequency F of the frequency converterx＝F(x-1)-Δt*Fmax/TxWherein: f(x-1)And the frequency output frequency of the frequency converter of the previous sub-process is delta t, the time interval between two adjacent sub-processes is delta t, Fmax is the maximum output frequency of the frequency converter, and Tx is the deceleration time.
The Δ t and FmaxThe properties of the frequency converter are all the properties of the frequency converter, and the properties can be automatically acquired through an upper machine. The frequency converter has a frequency F at initial deceleration0At the time of deceleration, output frequency F is initially calculatedxWhen F(x-1)Is equal to F0During subsequent calculation, F calculated each time can be calculatedxAs new F(x-1)Repeating iterative operation until Fx＝0。
In one embodiment, if the current output voltage of the motor plus the adjustment amount is smaller than the rated voltage of the motor, the actual output voltage of the frequency converter is equal to the current output voltage of the motor plus the adjustment amount; otherwise, the actual output voltage of the frequency converter is equal to the rated voltage of the motor.
It should be understood that, although the steps in the flowchart of fig. 1 are shown in order as indicated by the arrows, the steps are not necessarily performed in order as indicated by the arrows. The steps are not performed in the exact order shown and described, and may be performed in other orders, unless explicitly stated otherwise. Moreover, at least a portion of the steps in fig. 1 may include multiple sub-steps or multiple stages that are not necessarily performed at the same time, but may be performed at different times, and the order of performance of the sub-steps or stages is not necessarily sequential, but may be performed in turn or alternately with other steps or at least a portion of the sub-steps or stages of other steps.
In one embodiment, as shown in fig. 2, there is provided an apparatus for controlling motor deceleration by a frequency converter, including: a parameter acquisition module 210, a PID module 220, a calculation module 230, and a control module 240. Wherein: the parameter obtaining module 210 is configured to obtain a current operating parameter of the motor, a corresponding parameter of a dc bus of the frequency converter, and a limit value of the corresponding parameter of the dc bus. The PID module 220 is configured to perform PID control operation according to a current operating parameter of the motor or a difference between limit values of a corresponding parameter of the dc bus and a corresponding parameter of the dc bus to obtain an adjustment value P. The operation module 230 is configured to compare the current output voltage of the motor plus the adjustment amount with the rated voltage, and determine a deceleration time T according to the comparison resultX＝T(X-1)-K x P, or the deceleration time TX＝T(X-1)+ K P; wherein T is(X-1)K is the time modulation scaling factor for the calculated deceleration time in the previous cycle. The control module 240 is configured to calculate an output frequency of the frequency converter according to the deceleration time, and control the motor to decelerate according to the output frequency.
The parameter obtaining module 210 obtains parameters such as a rated voltage of the motor, a current output current of the motor, a current dc bus voltage, a dc bus voltage limit value, and a dc bus output current limit value.
The parameter obtaining module 210 obtains a first phase stator current I of the motoruAnd a second phase stator current IwThen, according to the condition that the sum of the three-phase currents is zero, calculating out a third-phase stator current Iv. Using clark transformation to convert the three-phase current I in a three-phase stationary coordinate systemu、IwAnd IvConversion to I in two-phase stationary coordinate SystemαAnd IβIn which Iα＝Iu，
Calculating the current output current of the motor
And the current projected to the three-phase static coordinate system by the current output current I of the motor is equal to the three-phase current at any moment.
The PID module 220 outputs a current limiting value I by the DC buslimitThe output current I is a feedback value at a given value, so as to calculate a current difference value EI＝Ilimit-I, and for said current difference EICarrying out PID control operation to obtain a first adjustment quantity P1;
wherein, KpAre control parameters. KpThe value of (b) can be set according to actual conditions.
The PID module 220 also uses the dc bus voltage UdcIs a given value, the voltage limit value U of the direct current buslimitFor the feedback value, thereby calculating a voltage difference value EU＝Udc-Ulimit. And for the current difference EUCarrying out PID control operation to obtain a first adjustment quantity P2;
wherein, KpAre control parameters. KpThe value of (b) can be set according to actual conditions.
The PID module 220 compares the dc bus output current limit value with the output current, and if the output current is greater than the dc bus output current limit value, the adjustment amount P is P1, otherwise, P is P2.
The operation module 230 is configured to compare the current output voltage of the motor plus the adjustment amount with the rated voltage, and if the current output voltage of the motor plus the adjustment amount is smaller than the rated voltage, the deceleration time T is determinedx＝T(x-1)-K x P, otherwise, the deceleration time Tx＝T(x-1)+ K P; wherein T is(x-1)And K is a time modulation proportionality coefficient, and is the deceleration time calculated in the last subprocess.
The control module 240 follows the formula Fx＝F(x-1)-Δt*Fmax/TxCalculating the output frequency F of the frequency converterxWherein: f (x-1) is the output frequency of the frequency converter of the previous sub-process, delta t is the time interval between two adjacent sub-processes, Fmax is the maximum output frequency of the frequency converter, and Tx is the deceleration time.
The control module 240 further determines the actual output voltage of the frequency converter according to the comparison result of the operation module 230. If the current output voltage of the motor plus the adjustment quantity is smaller than the rated voltage of the motor, the actual output voltage of the frequency converter is equal to the current output voltage of the motor plus the adjustment quantity; and if the voltage is negative, the actual output voltage of the frequency converter is equal to the rated voltage of the motor.
For the specific limitation of the device for controlling the motor to decelerate by the frequency converter, reference may be made to the above limitation on the method for controlling the motor to decelerate by the frequency converter, and details thereof are not described herein again. All or part of each module in the device for controlling the motor to decelerate by the frequency converter can be realized by software, hardware and a combination thereof. The modules can be embedded in a hardware form or independent from a processor in the computer device, and can also be stored in a memory in the computer device in a software form, so that the processor can call and execute operations corresponding to the modules.
Those skilled in the art will appreciate that the architecture shown in fig. 2 is merely a block diagram of some of the structures associated with the disclosed aspects and is not intended to limit the computing devices to which the disclosed aspects apply, as particular computing devices may include more or less components than those shown, or may combine certain components, or have a different arrangement of components.
In one embodiment, a computer device is provided, comprising a memory and a processor, the memory having a computer program stored therein, the processor implementing the following steps when executing the computer program:
step S10: and acquiring the current operating parameters of the motor, the corresponding parameters of the direct current bus of the frequency converter and the limit values of the corresponding parameters of the direct current bus.
Step S20: carrying out PID control operation according to the current operation parameter of the motor or the difference value between the corresponding parameter of the direct current bus and the limit value of the corresponding parameter of the direct current bus to obtain an adjustment value P;
step S30: comparing the current output voltage U of the motoroutAdding the adjustment P and the rated voltage UrateIf the current output voltage U of the motor is larger than the preset valueout plus the adjustment P is less than the rated voltage UrateThen deceleration time Tx＝T(x-1)-K x P, otherwise, the deceleration time Tx＝T(x-1)+ K P; wherein T is(x-1)And K is a time modulation proportionality coefficient for the deceleration time calculated in the sub-process.
Step S40: and calculating the output frequency of the frequency converter according to the deceleration time, and controlling the motor to decelerate according to the output frequency.
In one embodiment, a computer-readable storage medium is provided, having a computer program stored thereon, which when executed by a processor, performs the steps of:
step S10: and acquiring the current operating parameters of the motor, the corresponding parameters of the direct current bus of the frequency converter and the limit values of the corresponding parameters of the direct current bus.
Step S20: carrying out PID control operation according to the current operation parameter of the motor or the difference value between the corresponding parameter of the direct current bus and the limit value of the corresponding parameter of the direct current bus to obtain an adjustment value P;
step S30: comparing the current output voltage U of the motoroutAdding the adjustment amount P and the amountConstant voltage UrateIf the current output voltage U of the motor is larger than the preset valueout plus the adjustment P is less than the rated voltage UrateThen deceleration time Tx＝T(x-1)-K x P, otherwise, the deceleration time Tx＝T(x-1)+ K P; wherein T is(x-1)And K is a time modulation proportionality coefficient for the deceleration time calculated in the sub-process.
Step S40: and calculating the output frequency of the frequency converter according to the deceleration time, and controlling the motor to decelerate according to the output frequency.
It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by hardware instructions of a computer program, which can be stored in a non-volatile computer-readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. Any reference to memory, storage, database, or other medium used in the embodiments provided herein may include non-volatile and/or volatile memory, among others. Non-volatile memory can include read-only memory (ROM), Programmable ROM (PROM), Electrically Programmable ROM (EPROM), Electrically Erasable Programmable ROM (EEPROM), or flash memory. Volatile memory can include Random Access Memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms such as Static RAM (SRAM), Dynamic RAM (DRAM), Synchronous DRAM (SDRAM), Double Data Rate SDRAM (DDRSDRAM), Enhanced SDRAM (ESDRAM), Synchronous Link DRAM (SLDRAM), Rambus Direct RAM (RDRAM), direct bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).
The technical features of the above embodiments can be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the above embodiments are not described, but should be considered as the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above-mentioned embodiments only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (9)
1. A method for controlling motor deceleration by a frequency converter is characterized in that a plurality of sub-processes with the same processing flow are adopted to repeatedly adjust deceleration time, and for two adjacent sub-processes, the deceleration time of the next sub-process is adjusted according to the processing result of the previous sub-process; each sub-process comprises the steps of:
acquiring current operation parameters of the motor, corresponding parameters of a direct current bus of a frequency converter and limiting values of the corresponding parameters of the direct current bus, wherein the current operation parameters of the motor comprise rated voltage of the motor, current output voltage of the motor and current output current of the motor, the corresponding parameters of the direct current bus comprise current direct current bus voltage, and the limiting values of the corresponding parameters of the direct current bus comprise a direct current bus voltage limiting value and a direct current bus output current limiting value;
carrying out PID control operation according to the current operation parameter of the motor or the difference value between the corresponding parameter of the direct current bus and the limit value of the corresponding parameter of the direct current bus to obtain an adjustment quantity P, carrying out PID control operation on the difference value between the current output current limit value of the direct current bus and the current output current of the motor to obtain a first adjustment quantity P1, carrying out PID control operation on the difference value between the current voltage of the direct current bus and the limit value of the voltage of the direct current bus to obtain a second adjustment quantity P2, comparing the current output current limit value of the direct current bus with the current output current of the motor, if the current output current of the motor is greater than the current output current limit value of the direct current bus, setting the adjustment quantity P to P1, and otherwise, setting P to P2;
if the sum of the current output voltage of the motor and the adjustment quantity is smaller than the rated voltage of the motor, the deceleration time T of the current sub-processxAnd deceleration of the preceding sub-processTime T(x-1)The relationship between them satisfies:
Tx＝T(x-1)-K*P，
otherwise:
Tx＝T(x-1)+K*P；
wherein K is a time modulation proportionality coefficient;
and calculating the output frequency of the frequency converter in the current sub-process according to the deceleration time Tx, and controlling the motor to decelerate according to the output frequency.
2. The method for controlling motor deceleration through the frequency converter according to claim 1, wherein the step of performing PID control operation on the difference between the current limit value of the dc bus output current and the current motor output current to obtain the first adjustment amount P1 comprises:
outputting a current limiting value I by the direct current buslimitThe current output current I of the motor is a feedback value;
difference of current EI＝Ilimit-I；
For the current difference EICarrying out PID control operation to obtain a first adjustment quantity P1;
wherein, KpAre control parameters.
3. The method for controlling motor deceleration by inverter according to claim 1, wherein the step of performing PID control operation on the difference between the current dc bus voltage and the dc bus voltage limit value to obtain the second adjustment amount P2 comprises:
taking the voltage of the direct current bus as UdcA given value, a limit value U of the DC bus voltagelimitIs a feedback value;
difference in voltage EU＝Udc-Ulimit；
For the currentDifference EUCarrying out PID control operation to obtain a first adjustment quantity P2;
wherein, KpAre control parameters.
4. The method for controlling motor deceleration by inverter according to claim 1, wherein the step of obtaining the present output current of the motor comprises:
obtaining a first phase stator current I of an electric machineuAnd a second phase stator current Iw；
According to the three-phase current sum being zero, calculating out the third-phase stator current Iv；
Using clark conversion to convert the three-phase stator current I in a three-phase static coordinate systemu、IwAnd IvConversion to I in two-phase stationary coordinate SystemαAnd IβIn which Iα＝Iu，
Calculating the current output current of the motor
5. The method for controlling motor deceleration by frequency converter according to any one of claims 1 to 4, characterized in that, if the current output voltage of the motor plus the adjustment amount is smaller than the rated voltage of the motor, the actual output voltage of the frequency converter is equal to the current output voltage of the motor plus the adjustment amount; otherwise, the actual output voltage of the frequency converter is equal to the rated voltage of the motor.
6. Method for controlling the deceleration of an electric motor with a frequency converter according to any of claims 1 to 4, characterized in that the frequency converter hasOutput frequency Fx＝F(x-1)-Δt*Fmax/TxWherein: f(x-1)The frequency of the frequency converter output of the previous sub-process, Δ t is the time interval between two adjacent sub-processes, FmaxIs the maximum output frequency, T, of the frequency converterxIs the deceleration time.
7. A device for controlling motor speed reduction by a frequency converter is characterized by comprising:
the parameter acquisition module is used for acquiring current operation parameters of the motor, corresponding parameters of a direct current bus of the frequency converter and limiting values of the corresponding parameters of the direct current bus, wherein the current operation parameters of the motor comprise rated voltage of the motor, current output voltage of the motor and current output current of the motor, the corresponding parameters of the direct current bus comprise current direct current bus voltage, and the limiting values of the corresponding parameters of the direct current bus comprise a direct current bus voltage limiting value and a direct current bus output current limiting value;
the PID module is used for carrying out PID control operation according to the current operation parameter of the motor or the difference value between the corresponding parameter of the direct current bus and the limit value of the corresponding parameter of the direct current bus to obtain an adjustment quantity P, carrying out PID control operation on the difference value between the current output current limit value of the direct current bus and the current output current of the motor to obtain a first adjustment quantity P1, carrying out PID control operation on the difference value between the current voltage of the direct current bus and the limit value of the voltage of the direct current bus to obtain a second adjustment quantity P2, comparing the current output current limit value of the direct current bus with the current output current of the motor, and if the current output current of the motor is greater than the current limit value of the output current of the direct current bus, setting the adjustment quantity P to P1, otherwise, setting the adjustment quantity P to P2;
the operation module is used for comparing the current output voltage of the motor plus the adjustment quantity with the rated voltage of the motor and determining the deceleration time T according to the comparison resultx＝T(x-1)-K x P, or the deceleration time Tx＝T(x-1)+ K P; wherein T is(x-1)The deceleration time calculated in the previous sub-process is K, and K is a time modulation proportionality coefficient;
and the control module is used for calculating the output frequency of the frequency converter according to the deceleration time and controlling the motor to decelerate according to the output frequency.
8. A computer device comprising a memory and a processor, the memory storing a computer program, wherein the processor implements the steps of the method of any one of claims 1 to 6 when executing the computer program.
9. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the steps of the method of any one of claims 1 to 6.
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| CN112731874B (en) * | 2020-12-21 | 2022-05-20 | 深圳市海浦蒙特科技有限公司 | Power-off shutdown control method and device for industrial control equipment |
| WO2022133887A1 (en) * | 2020-12-24 | 2022-06-30 | 深圳市英威腾电气股份有限公司 | Rapid deceleration control method and system for asynchronous motor, and device and medium |
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